Jens-Steffen Gutmann Wolfgang Hatzack Immanuel Herrmann Bernhard Nebel Frank Rittinger Augustinus Topor Thilo Weigel Bruno Welsch The CS Freiburg Robotic Soccer Team: Reliable Self-Localization, Multirobot Sensor Integration, and Basic Soccer Skills. 93-108 http://link.springer.de/link/service/series/0558/bibs/1604/16040093.htm 1998 conf/robocup/1998 RoboCup db/conf/robocup/robocup1998.html#GutmannHHNRTWW98